Techniques of Indoor Positioning Systems (IPS): A Survey

Indoor Localization has been a challenging task in robotics for years, due to the obstruction of the GPS signals. Although multiple techniques have been proposed, determining the best among them is still highly dependent on applications and no best solution is agreed on. One technique, researchers and developers are adopting -especially in the robotics field-, is the visual/inertial sensor fusion. However, the high number of these systems and their diversity, makes selecting the adequate one for an application a challenging task. This paper aims at presenting an exhaustive list indoor positioning techniques with more emphasis on visual/depth sensors, along with some recommendations for selected applications.